Author
Bebek, Özkan, Hwang, M. J., Çavuşoğlu, M. C.
Publication Date
2013-02
Publication Place
-
IEEE
Subject
Calibration and identification, Kinematics, Medical robotics, Needle insertion, Parallel robots, Robot-assisted biopsy
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
1083-4435
Record ID
48bd4051-e867-456f-9cb9-e63a21f41ecf
Library Location
Mechanical Engineering
Date
2013-02
Notes
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text
In this paper, a novel 5-degrees-of-freedom robot for performing needle-based interventions on small animal subjects is presented. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and has a syringe mechanism to insert needles to subjects. Operations on small animals require high accuracy positioning during needle insertion. The kinematic calibration procedure of the robot using an optical tracker as an external sensor is presented to enhance accuracy of the system. After the kinematic calibration, the positioning accuracy of the needle tip is measured as 0.4 mm RMS. The robot design is light weight, and has a motion bandwidth of 4 Hz. The robot can track reference trajectories with a closed-loop controller.
DOI
10.1109/TMECH.2011.2162427
Cilt
18
